diff --git a/.gitattributes b/.gitattributes
index b6850a6973bbbe7a8804bf2a3d8c6a7110b0736b..ec98b2dfee9efd0e304c960d103767934d35eed9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2341,5 +2341,5 @@ dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/mesh/so
 dataset/bathroom_supplies/bath_products/827aabd94ab05de09e311524b6552f12/soap_dish_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/mesh/soap_dish_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/bath_products/863a0138dd7a52aba65006e27931b85c/soap_dish_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74/mesh/soap_dish_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/bath_products/9099ade6973554739c5e3eea5ac06f74/soap_dish_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/soap_dish_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material.mtl b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d51ff389e36a1482d32fddd757573320eed2c891
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl soap_dish_026_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd soap_dish_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f133ae4c2f969c8450842e3a3c89f41283a6daf
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29733d09345f68db8856636eba084661d556126cfad2e6b1c278b34442900980
+size 14025017
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.glb b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c59747b4d26d754258ae8d6e41a56f74fa495aca
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b551fec553a9b839f23c2913d602146edeba36b21a2e9902ee4d68db8726676
+size 17348280
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.mtl b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7d9a7693521bd511ad4db6b1101e13cc5c1414f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.mtl
@@ -0,0 +1,6 @@
+newmtl soap_dish_026_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388f8c8ea6cd64b525da97d10d1c875d0af7eb2f
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026.obj
@@ -0,0 +1,120398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl soap_dish_026_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026_collision.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d56ca2ade4bb91250e905ca28c88eaf25b8a59
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026_collision.obj
@@ -0,0 +1,3148 @@
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026_geometry_Looks_material_0.png b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mesh/soap_dish_026_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f133ae4c2f969c8450842e3a3c89f41283a6daf
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+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:29733d09345f68db8856636eba084661d556126cfad2e6b1c278b34442900980
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026.obj
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+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66dd4bc2bd624d5483712fe4e85bdad7cf1a726b
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision.obj
@@ -0,0 +1,3148 @@
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_0.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f641d6080cc32bc9efdc7ac2a4db00f36128fe
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_0.obj
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_1.obj b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94f83e3a51fdec587d0a206a356a1ba7f1895814
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/mesh/soap_dish_026_collision_1.obj
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diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/soap_dish_026.xml b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/soap_dish_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb1811bb64cc8becf87cffe64f4a4cac8e9de943
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/mjcf/soap_dish_026.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soap_dish_026">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/soap_dish_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soap_dish_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soap_dish_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soap_dish_026">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/soap_dish_026.urdf b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/soap_dish_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d061bb70fe92c21e1b6d7825e8531ce26a3f406
--- /dev/null
+++ b/dataset/bathroom_supplies/bath_products/88ec86039a535d2484d6dbc5bfcb4da2/soap_dish_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soap_dish_026">
+   <link name="soap_dish_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_026.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/soap_dish_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>88ec86039a535d2484d6dbc5bfcb4da2</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>bath_products</super_category>
+         <category>soap_dish</category>
+         <name>brown soap dish</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>rectangular brown soap dish with lattice sides and floral top pattern</description>
+         <min_height>0.0509</min_height>
+         <max_height>0.0509</max_height>
+         <real_height>0.0509</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.55</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518150700</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039115 -0.070013 -0.025035</min>
+            <max>0.039099 0.069999 0.025844</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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